Let's assume that as a society we're not going to let people starve to death or die of exposure. So that means we're going to have to use tax money to provide everyone with at least some minimal level of income whether we call it welfare, dole, or basic income. So let's turn the government into an employer of last resort. Even if people have no skills they can pick up litter or do basic landscaping in public areas for 30 hours per week. Since we're going to be paying them anyway I for one would at least like to get some value for my tax money.

The point isn't whether robots could someday do those tasks more efficiently. Robots will always cost >0. Whereas the people will essentially be "free" since we we'll have to pay them anyway.